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A comment on 3-D Depth Reconstruction from a Single Still Image (2007) [pdf]. Parent comment
There you can find the source for both the vision code in MatLAB, and a link to http://make3d.cs.cornell.edu/code.html for the full source.
There you can find the source for both the vision code in MatLAB, and a link to http://make3d.cs.cornell.edu/code.html for the full source.